Method for identifying object adjustment channels with application of testing signals onto predictable working controls

FIELD: technology for automatic control and adjustment, possible use for building mathematical models of channels for adjusting cyclic and continuous technological objects in control systems.

SUBSTANCE: method includes preliminary estimation of static characteristics of errors of predicting and adjustment, joint predicting of working controls and vector of output values of object, application of testing influence onto predictable working controls, fixing trajectory of change of output variables in time and estimation on basis of received data of dynamic characteristics of researched adjustment channels, while additionally determined is list of possible type-representing situations and required reactions for these situations are preliminarily estimated, presence and changing of type-representing situations on object is controlled operatively, trajectories of predicted output variables are corrected, relatively to which reaction of object to testing influence is estimated, algorithms for setting reaction parameters of type-representing situations are selected in function of parameters of type-representing situations themselves.

EFFECT: improved precision of identification.

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The invention relates to automatic control and regulation, and can be used to build mathematical models of channels regulation of cyclic and continuous process of interest in control systems.

The complex of methods of identification of objects in the control systems that allow to build models of objects using test (test, test) influences, but at the same time minimizing their negative impact on the normal flow of production processes (see "Identification of objects in systems management / Myshlyaev L.P., Lviv H., Kiselev S., Ivanov, SJ, " Izv. Higher education institutions. Ferrous metallurgy. - 2001 - No. 12. P.32-35"). To identify predictive trajectories desktop management and application of the test impacts perform operations joint prediction of trajectories of control input and output actions of the object, put the test impact on the predicted trajectory of the working departments compiled by the planning scheme for the experiment, estimate the coefficients of transmission channels of the regulation on the difference between the predicted and actually received by the trajectories of output actions of the object and the difference between predicted and actual realized trajectories of governors in adnych impacts of the object, this allowed regulatory impact aimed at suppressing effects test impacts on previously identified channels of regulation, but with the further exception of the effects of these compensating effects.

This method has the following disadvantages:

while assessing transfer coefficient of the channels studied the regulation does not take into account errors of management and forecasting, which reduces the reliability of the estimates;

since the operator is not interested in the results of the study, and complex objects have many control channels, and successful management requires the application of complex effects on a number of control channels, it is often the operator secretly uses a number of channels to compensate for the effects of the test influences;

in the beginning of the study of complex object, all control channels not identified that at this stage of the operation object does not allow to use this method.

The closest in technical essence to the present invention is a method for identifying objects in which a test signal is applied to the projected operational management to assess the characteristics of the channels of the regulation (see "Application of experimental effects on projected operational management / Veryovkin I., Avdeev Century, the., Labuntsov B.A., Burganov B.A., Katrich A.P., " Izv. Higher education institutions. Ferrous metallurgy. - 1975 - No. 6. Pp.163-166"). It includes a preliminary assessment of the statistical characteristics of the errors of prediction and control, collaborative forecasting business departments and the vector of output values of the object, applying trial testing the impact on projected operational control, recording the trajectory of change in the vector of output values of the object in time and evaluation of the dynamic characteristics of the studied channels control the trajectory of change over time of the difference between the predicted and actually received temporary dependency vector of output values of the object along the trajectory of change over time of the difference between the predicted and actual realized the time dependency of the departments and the statistical characteristics of the errors of management and forecasting.

The drawbacks include, first, open feedback on the time of the experiment, and secondly, the method is suitable only for objects with slowly changing state. I.e. you can make the identification of the object, provided that its state at the time of the effect of the trial of the impact has not changed. If the object changes its state, and if he has a substantial non-linearity, the error is dinamicheskih coefficients may be commensurate with the useful signal. Therefore, the results of experiment you want to perform exactly the types of situations.

The objective of the invention is to improve the accuracy of identification by identifying dippredstavitelya situations with the corresponding statistical characteristics of the errors of management and forecasting, and by assigning an appropriate algorithm for predicting the trajectories of change over time departments of the technological object and trajectories of the vector of output values.

Under dippredstavitelya understand the situation intended for the display characteristic of the actual properties and operating conditions of natural objects (control systems in General) are interconnected set of structures of the object; an information display object; the characteristics of external and internal conditions of the object and scope of their permissible changes; the structure and values of the parameters of mathematical models of channels conversion deviations of governors and controlled external influences in vector deflection output values of the object, the area of their health; implementations are given to the output and (or) control input of disturbing influences or their equivalents; criteria for the effectiveness of forecasting.

In the identification method of regulating channels of interest with what neseniem test signals on projected operational management, including the method of identification of objects in which a test signal is applied to the projected operational management to assess the characteristics of the controlling channels, pre-qualify dippredstavitelya the situation and determine the magnitude of the control action to compensate for the effect of changes dippredstavitelya situation on the vector of output values of the object.

The invention consists in the following.

Objects with essentially nonlinear properties, which include most industrial facilities, significantly changing their dynamic characteristics in modifying their States. The status of each such object in the dynamics can be estimated from the behavior of external signs by which you can conclude what dippredstavitelya situation he is. Changing object properties due to changes dippredstavitelya situation on the object leads to a change in his reaction to a previously filed a test signal. At the same time in connection with the change in the situation to provide a normal operation mode object arises the need for emergency intervention in his work. I.e. you want to change the trajectory of departments. In order for these features identification did not lead to significant errors of the estimates of the dynamic characteristics of the channels to regulate the deposits, it is advisable to decide in advance with the changes in the trajectories of the departments in the transition from one dippredstavitelya situation to another, and to consider the trajectory of changes in the time difference of the trajectories predicted and actually received by the time-dependent vector of output values of the object to compensate for the response of an object to change its state. The latter is due to the reaction of the object on the amount of change in time of the two impacts: business offices and the test signal. When there is a sudden change dippredstavitelya situation at the facility may require modifying the algorithms assign parameters of the reaction of the object to change dippredstavitelya situation in the function parameters themselves dippredstavitelya situations. However with the change dippredstavitelya situation, choose the assignment algorithm parameters of the reaction of the object to change dippredstavitelya situation, and determine an object's reaction to change dippredstavitelya situation. Is encouraged to identify a list of possible classes dippredstavitelya situations and preliminary assessment of the required reactions to these situations, operative to control the presence and change dippredstavitelya situations on the object, adjust the trajectory of the predicted output vector ve is icin object, against which to assess the reaction of the object on a trial effect. An object's reaction to test the impact is assessed as the change in the output value of the object in time after elimination of the effect of the changes dippredstavitelya situation.

As an example, consider the identification of the oxygen-Converter process during blowing. During a purge is changing dippredstavitelya situation BOF process from collapse slag to increase the volume shlakometallicheskih emulsion. As a result, the mirror metal is then covered with a thick layer of slag, bare minimizing slag. The reaction to the return of bulk, changing the position of the tuyere has changed dramatically.

The drawing shows a plot of the change of the output variable of the object to the function changes an input variable in an active experiment.

When changing dippredstavitelya situation from dippredstavitelya situation 1 to dippredstavitelya situation 2 changes the reaction of the object on a previously filed with the effect that under this dippredstavitelya situation should be taken into account simultaneously with the change of error management and forecasting. In particular, curve 1- forecast of the trajectory of changes in working departments, matched with the existing dippredstavitelya situation 1. Curve 2 is the same effect with superimposed pilot signal. Curve 3 - forecast of the trajectory of changes in working departments to reflect changes in dippredstavitelya situation. Curve 4 is the same with the superimposed pilot signal. Δ- the difference between the input values of the object between the forecast trajectory of changes in working departments before and after the change dippredstavitelya situation. Curve 5- forecast changes in the output values of the object in time on this channel regulation, produced at time t1corresponds dippredstavitelya situation 1. Curve 6 is the expected trajectory of change in the same output value object, which would have occurred without changes dippredstavitelya situation in the effect of the test signal.the difference between the predicted output value of the object and the output value after the effect of the test signal. Curve 7 corresponds to the reaction of the object on workers control, the applied test signal and the change in time t2dippredstavitelya situation. Curve 8 is obtained by shifting the curve 7 of the additional effect of changes in operating departments, produced at time t2when changing tipo is predstaviteley situation.

where a is the transfer coefficient;

P1(i) a test signal;

δ1(i) the forecast error;

ξ1(i) error of the regulation;

Q1(i) the impact dippredstavitelya situation in the studied channel regulation;

Y2(i) the effect of a change dippredstavitelya situation through other channels regulation, manifested on the monitored output of the object;

P2(i) corrective control action (aimed at compensating effects of Q1(i), Y2(i));

Δδ1(i) - change forecast errors in connection with the change dippredstavitelya situation;

Δξ1(i) - change error regulation in connection with the change dippredstavitelya situation;

where δ2(i)=δ1(i)+Δδ1(i);

ξ2(i)=ξ1(i)+Δξ1(i);

Y2(i)=a2Q2(i)+a3Q3(i)+...anQn(i);

Q2(i) the impact dippredstavitelya situation differently (2nd) channel regulation;

a2- transfer coefficient from the 2nd channel regulation on this output signal.

Dippredstavitelya situation produces the following effects:

Therefore, the coefficient is ecient transfer is calculated as follows:

Time of inertia and the net delay of the object are determined in a known manner along the trajectory changes over time functions described in the numerator of the formula (5).

How to identify the channels of control objects by applying test signals to the projected operational management, including preliminary assessment of the statistical characteristics of the errors of prediction and control, collaborative forecasting business departments and the vector of output values of the object, applying trial testing the impact on projected operational management, recording trajectories of change of input and output values of the object in time and the estimation of dynamic characteristics of control channels on a difference of the trajectory of change over time in the predicted and actually received by the time-dependent output values of the object according to the difference of the trajectory of change over time in the predicted and actually implemented the time-dependent departments and the statistical characteristics of the errors of management and forecasting, characterized in that further define the list of possible dippredstavitelya situations and pre-evaluate the required response object to these situations, operational control of nalichii change dippredstavitelya situations on the object, adjust the trajectory of the projected vector of output values of the object against which to evaluate the reaction of the object on a trial effect, choose algorithms assign parameters of the reaction of the object to change dippredstavitelya situations in the function parameters themselves dippredstavitelya situations.



 

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